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Fig. 2 | EURASIP Journal on Audio, Speech, and Music Processing

Fig. 2

From: Motor data-regularized nonnegative matrix factorization for ego-noise suppression

Fig. 2

Left: Illustration of data collection and processing. We consider a robot for which motor data of 23 joints and a single-channel microphone signal are recorded. The th STFT frame is processed. Note that the total number of motor data samples can be varying from frame to frame, c.f., Section 2.1. Right: Example spectrogram for right arm shoulder ego-noise and corresponding normalized motor data samples (angular position and angular velocity) of this joint

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